diff --git a/worlds/.nuoptimiser.jpg b/worlds/.nuoptimiser.jpg new file mode 100644 index 00000000..aa24ff09 Binary files /dev/null and b/worlds/.nuoptimiser.jpg differ diff --git a/worlds/nuoptimiser.wbt b/worlds/nuoptimiser.wbt index c68f327a..823be978 100644 --- a/worlds/nuoptimiser.wbt +++ b/worlds/nuoptimiser.wbt @@ -1,14 +1,12 @@ -#VRML_SIM R2022b utf8 +#VRML_SIM R2023a utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/robotis/darwin-op/protos/RobotisJersey.proto" IMPORTABLE EXTERNPROTO "../protos/robocup_field/RobocupSoccerField.proto" IMPORTABLE EXTERNPROTO "../protos/robocup_field/RobocupTexturedSoccerBall.proto" IMPORTABLE EXTERNPROTO "../protos/robocup_field/lighting/RoboCupMainLight.proto" IMPORTABLE EXTERNPROTO "../protos/robocup_field/lighting/RoboCupOffLight.proto" IMPORTABLE EXTERNPROTO "../protos/robocup_field/lighting/RoboCupTopLight.proto" IMPORTABLE EXTERNPROTO "../protos/robocup_field/RoboCupBackground.proto" - -EXTERNPROTO "../protos/robot/NUgus/NUgus.proto" +IMPORTABLE EXTERNPROTO "../protos/robot/nugus/nugus.proto" WorldInfo { info [ @@ -44,36 +42,148 @@ WorldInfo { } ] } - Viewpoint { - orientation -0.175077 -0.367436 0.9134 5.32156 - position -9.61058 11.1227 5.86 + orientation -0.17508043773595672 -0.36744321481376185 0.9134179351258181 5.32156 + position -5.8833984254670915 4.717390259099906 1.7155858321472701 } - RoboCupBackground { - texture "stadium_dry" } -RoboCupMainLight {} -RoboCupOffLight {} -RoboCupTopLight {} - +RoboCupMainLight { +} +RoboCupOffLight { +} +RoboCupTopLight { +} DEF soccerField RobocupSoccerField { size "kid" } DEF ball RobocupTexturedSoccerBall { - translation 0 -1.2605840975378444e-07 0.07852943586495187 - rotation 0.9999999999999999 0 0 1.8715596617048374e-06 + translation 0 -1.261991468080946e-07 0.07839305064224124 + rotation 1 0 0 1.873570221899952e-06 } - -DEF RED_PLAYER_1 NUgus { - supervisor TRUE - controller "optimisation" +nugus { + hidden 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rotation_5 -0.8237151308130811 -0.40093314549031633 -0.40093141073858146 1.7635261713729498 + hidden position_5_0 1.2065400964228814 + hidden linearVelocity_5 -0.0004199342288413432 1.2466337346198096e-06 8.60428521722578e-05 + hidden angularVelocity_5 7.615866025162269e-06 -0.0015227424488722886 1.1495271894264303e-07 + hidden rotation_6 0 0 1 1.2065400964228814 + hidden position_6_0 -0.5129160387474201 + hidden linearVelocity_6 -0.00020457255340408298 3.1863650170633387e-06 4.490432600747859e-05 + hidden angularVelocity_6 7.800475770856468e-06 -0.0015226628178347183 5.191186657008953e-08 + hidden rotation_7 0 0 -1 0.5129160387474202 + hidden position_7_0 -0.16792228778075646 + hidden linearVelocity_7 -9.526313693444996e-05 4.588194168440791e-06 -5.901188094075348e-05 + hidden angularVelocity_7 7.840580902694953e-06 -0.0015224813551019847 9.033119589155506e-08 + hidden rotation_8 0.992991659245204 0.08356920815780207 -0.08356884657176096 1.577832956454382 + hidden linearVelocity_8 -3.294020432365901e-05 5.764743183511014e-06 2.4677592275375582e-05 + hidden angularVelocity_8 7.969801116107718e-06 -0.0015224268736630715 1.0649838491483015e-07 + hidden translation_10 0.037996804079202376 -0.054846997300490585 -0.08675047216623089 + hidden rotation_10 0.008178962524834889 -0.10008034487439499 -0.994945741807984 4.498144363993047e-09 + hidden linearVelocity_10 -1.4336930650745646e-05 6.059980856069461e-06 -0.0001586192907445107 + hidden angularVelocity_10 7.971698704128267e-06 -0.0015224271379657213 1.0650528481563572e-07 + hidden translation_11 0.03799680355875282 0.07673400269889097 -0.08675047107923728 + hidden rotation_11 0.00817718307088061 -0.10224037850689617 -0.9947261123946589 4.49914313006605e-09 + hidden linearVelocity_11 -1.435033915904191e-05 6.059988187776969e-06 -0.00015757035658464343 + hidden angularVelocity_11 7.971698620954614e-06 -0.0015224271328253508 1.0650528606653512e-07 + hidden translation_12 0.03799563243086557 0.07673399950571369 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-0.001522409891930503 3.689978902544626e-08 + hidden rotation_25 0 0 -1 3.141589926542027 + hidden position_25_0 1.1828012323114099e-07 + hidden linearVelocity_25 -0.0010754425558742494 -4.049559597451462e-06 4.653880466474621e-05 + hidden angularVelocity_25 5.894404045128779e-06 -0.0015228229546807126 7.875375721649961e-07 + hidden rotation_26 0.5773496480485992 0.5773495797596117 -0.5773515797584329 2.094398931710746 + hidden linearVelocity_26 -0.0011935952461844838 -4.485144497754076e-06 8.876129808006734e-05 + hidden angularVelocity_26 5.894408819078579e-06 -0.0015228224560084654 7.875337889924548e-07 + hidden rotation_31 0.03467786221992787 0.7066817668254558 0.7066812055717256 3.210926201148701 + hidden position_31_0 0.19633549981026094 + hidden linearVelocity_31 -0.001050693007957788 -3.6564367526188784e-06 6.0283716019749234e-05 + hidden angularVelocity_31 5.767110288689166e-06 0.029865605417706723 -8.035540444151223e-08 + hidden rotation_32 0.5356930111855598 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hidden position_35_0 -0.687177926666718 + hidden linearVelocity_35 -0.002528484302682997 -0.00016937145651654202 0.0005749122348526016 + hidden angularVelocity_35 -0.0035045997729929476 0.02986564197559659 0.0011458924495939447 + hidden rotation_36 -0.8311867477042822 0.3931450886822727 0.39314822864383553 1.7546536999086968 + hidden linearVelocity_36 -0.006636097986544066 -0.000631580409867384 0.0005921230026857162 + hidden angularVelocity_36 -0.002722248854249263 0.017189009352133446 0.0035426207256984265 + translation -4.631337371101949 2.4676909573272603 0.4740543962364015 + rotation -2.3865957030049758e-05 0.9999999994047339 -2.49188351927922e-05 0.2175937726435894 name "red player 1" - translation -4.6 2.47 0.51 # 0.0 0.0 0.51 - rotation 0 0 1 0 + controller "optimisation" controllerArgs [ "10001" - "1", + "1" "127.0.0.1" ] + supervisor TRUE }